Matching pitch angle to a chosen frame of a robot

[nanaky]

Hello, I'm an OptiTrack newbie and I have some doubts.

I'm trying to use OptiTrack to track terrestrial robots, so I'm just using 2D.

Is there any way to make that the pitch angle that the optitrack gives you matches the angle between the calibration square and a chosen frame of the robot?

The frame would be the "natural" orientation of the robot (one axe for going forward and backwards and the other one for going right and left).

I'm talking mainly about some hardware, like putting the reflective balls in a specific configuration, or something like that, but software answers will be welcome too.

Thanks in advance.

[beckdo]

Hi,

Motive software will let you define a rigid body in the world coordinate system (relative to the calibration ground L-frame when you performed calibration).

For a given rigid body, the software will report position & orientation in real-time. These values are relative to the world coordinate system.

If you want the rigid body & orientation relative to another location and/or orientation, you're likely going to need to calculate a transform to take the rigid body's output relative to the world coordinate system and convert those into your desired local coordinate system.

Thanks